A brake control method for a track-bound vehicle

Abstract

The application discloses a kind of brake control methods for track operation equipment, it is related to track equipment control technical field, comprising: in each control cycle, through the front track image of locomotive camera being set in the front end of track operation equipment running direction acquisition, read frame intercalary cumulative running displacement and current running speed, and form compensation displacement according to the running displacement from image acquisition time to control time;Extract left track boundary and right track boundary in front track image, determine track extension direction, divide track section along track extension direction, and form the remaining along rail distance of each track section according to compensation displacement.The application in subsequent division track section and form remaining along rail distance, track section corresponds to the track position actually participating in brake judgment of current control cycle, improve the timing consistency between image acquisition time data and brake judgment of control time.

Description

Technical Field

[0001] This invention relates to the field of track equipment control technology, specifically a braking control method for track running equipment. Background Technology

[0002] During operation, track-mounted equipment typically needs to generate braking commands based on the condition of the track ahead, the current position, the current operating speed, and the braking capacity. With the application of head-mounted cameras, track position detection data, and operating speed detection data in track-mounted equipment, identifying track boundaries and determining the extension status of the track ahead based on images of the track ahead, and assisting in braking control, has become an important technical direction in the automated operation of track-mounted equipment. This type of method can acquire images of the track ahead within the control cycle and identify the area in front of the track in combination with the operating status of the track-mounted equipment, providing a data foundation for subsequent braking triggering. In actual operation scenarios, there is usually a time difference between the image acquisition time of the foreground track image and the control time when the brake controller generates the braking command. During this time difference, the track running equipment still runs along the track direction. Therefore, if the track segment is directly divided based on the foreground track image at the image acquisition time and the remaining track distance is calculated, the position of the resulting track segment may be offset from the actual track position involved in the braking judgment at the control time. At the same time, the buffer reading of the foreground track image, the accumulation of inter-frame running displacement, and the reading of the current running speed in adjacent control cycles also need to maintain a consistent time sequence correspondence. Otherwise, it will affect the accuracy of subsequent connection comparison and braking interval judgment. Furthermore, within a continuous control cycle, the visibility of track boundaries, the integrity of boundary sampling points, and the stability of local images in the preceding track image can affect the segmentation results of track segments. The same physical track position may result in repeated addition of segment identifiers, local splitting of track segments, and unstable connection of track segment boundaries in adjacent frame images. If subsequent braking decisions rely solely on the position of a single frame track segment or a single remaining track distance, it is difficult to fully utilize cross-frame connection relationships, boundary continuity relationships, far-end termination relationships, and center offset relationships. Therefore, this invention proposes a braking control method for track running equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a braking control method for track running equipment to solve the problems mentioned in the background art.

[0004] This invention can be achieved through the following technical solution: a braking control method for track running equipment, comprising: Step 1: In each control cycle, the camera at the front of the track running equipment in the direction of operation is used to collect images of the track ahead, read the cumulative running displacement and current running speed between frames, and form a compensation displacement based on the running displacement from the time of image acquisition to the time of control. Step 2: Extract the left and right track boundaries from the front track image, determine the track extension direction, divide the track into segments along the track extension direction, and form the remaining track distance of each track segment based on the compensation displacement. Step 3: Based on the cumulative inter-frame displacement, form the connection position of the previous frame's track segment, and compare the current frame's track segment with the connection position. If the connection comparison is successful, use the segment identifier. If the connection comparison is unsuccessful and the segment is outside the farthest boundary of the already connected track segment sequence, write a new segment identifier. If the connection comparison is unsuccessful and the segment is within the farthest boundary of the already connected track segment sequence, update the corresponding already connected track segment to form a track segment sequence. Step 4: Based on the current operating speed and the calibration capability of the braking system, a braking zone is formed to distinguish the braking triggering stage. Based on the boundary continuation judgment, far-end termination judgment, center offset judgment of each track segment in the track segment sequence, and the track segments whose remaining track distance falls into the braking zone and have not formed a valid result of the connection comparison, the braking judgment segment is determined. Step 5: Select the track segment with the shortest remaining track distance from the braking judgment segment that falls into the braking interval as the trigger segment, and generate a braking command based on the braking interval entered by the trigger segment.

[0005] A further technical improvement of the present invention is that the method for forming the compensation displacement in step one includes: When the camera at the front captures each frame of the track image, an image frame number is written for each frame of the track image, and the track running equipment's position value along the track at the corresponding image acquisition time is latched. When reading the image of the track to be processed in the current control cycle, read the image frame number of the image of the track to be processed, and read the image frame number of the latest acquired image of the track and the track position value at the time of image acquisition of the latest acquired image of the track. The track position value of the track running equipment at the control time of the current control cycle is latched, and the track position value at the control time of the current control cycle is subtracted from the track position value at the time of image acquisition of the latest acquired forward track image to form the first compensation component. When the image frame number of the foreground track image to be processed is earlier than the image frame number of the latest acquired foreground track image, the inter-frame movement displacement corresponding to each adjacent image frame between the image frame number of the foreground track image to be processed and the image frame number of the latest acquired foreground track image is read, and the inter-frame movement displacement corresponding to each adjacent image frame is added together to form the second compensation component. When the image frame number of the forward track image to be processed is the same as the image frame number of the latest acquired forward track image, the second compensation component is set to zero. The sum of the first compensation component and the second compensation component is taken as the compensation displacement.

[0006] A further technical improvement of the present invention is that the method for reading the inter-frame cumulative running displacement and the current running speed in step one includes: When the camera captures two adjacent frames of front track images, the image frame number of the previous frame of the front track image, the image frame number of the next frame of the front track image, and the inter-frame running displacement between the previous frame of the front track image and the next frame of the front track image are written into the inter-frame displacement record. When reading the forward track image to be processed in the current control cycle, the forward track image with the largest image frame number that is no earlier than the forward track image processed in the previous control cycle is read from the image buffer queue as the forward track image to be processed. The image frame number of the forward track image processed in the previous control cycle and the image frame number of the forward track image to be processed in the current control cycle are also read. If the image frame number of the forward track image to be processed in the current control cycle is later than the image frame number of the forward track image processed in the previous control cycle, read the inter-frame displacement records where the starting image frame number is later than the image frame number of the forward track image processed in the previous control cycle and the ending image frame number is not later than the image frame number of the forward track image to be processed in the current control cycle, and add the read inter-frame running displacements to form the inter-frame cumulative running displacement. If the image frame number of the forward track image to be processed in the current control cycle is the same as the image frame number of the forward track image processed in the previous control cycle, the cumulative inter-frame running displacement will be set to zero. Read the current running speed value corresponding to the current control cycle as the current running speed, and update the image frame number of the forward track image to be processed in the current control cycle to the image frame number of the forward track image that has already been processed.

[0007] A further technical improvement of the present invention is that the method for determining the track extension direction and dividing the track segments in step two includes: Extract the left and right track boundaries from the front track image. Read the left boundary sampling points on the left track boundary according to the sampling order, and read the right boundary sampling points on the right track boundary according to the same sampling order. Each left boundary sampling point and each right boundary sampling point are subtracted from the track forward direction in the preceding track image to form the left corrected boundary sampling point and the right corrected boundary sampling point. Connect the left and right correction boundary sampling points with the same sampling sequence, and determine the midpoint of the connecting line as the center sampling point. Connect each central sampling point according to the sampling sequence, and determine the track extension direction based on the direction of the line connecting adjacent central sampling points. Read the distance along the track between adjacent center sampling points along the track extension direction, and set the track segment boundary position when the cumulative distance along the track reaches the preset segment length, and form a track segment based on the boundary position of adjacent track segments; The remaining track distance for each track segment is determined based on the track segment boundary position relative to the braking reference point of the track running equipment.

[0008] A further technical improvement of the present invention is that the method for setting the boundary position of the track segment in step two also includes: When the cumulative distance along the track reaches the preset segment length, the cumulative position will be determined as the boundary position of the candidate track segment; Read the adjacent sampling sequence on the near side and the adjacent sampling sequence on the far side of the candidate track segment boundary position, and determine whether the adjacent sampling sequence on the near side and the adjacent sampling sequence on the far side both form the center sampling point; When both the adjacent sampling positions on the near side and the adjacent sampling positions on the far side form a central sampling point, the candidate track segment boundary position is set as the track segment boundary position. When there are sampling sequences that have not formed a center sampling point in adjacent sampling sequences on the near side and adjacent sampling sequences on the far side, continue to read sampling sequences along the track extension direction towards the side away from the track running equipment until two consecutive sampling sequences that have formed a center sampling point are read. The location of the center sampling point corresponding to the sampling sequence closer to the track running equipment in the two consecutive sampling sequences that have formed a center sampling point is set as the track segment boundary position. Track segments are formed based on the boundary locations of track segments.

[0009] A further technical improvement of the present invention is that: when the acceptance comparison in step three is invalid and the segment is located within the farthest boundary of the already accepted track segment sequence, the method for updating the corresponding already accepted track segment includes: For the current frame track segment where the acceptance comparison is not valid, located within the farthest boundary of the accepted track segment sequence and between two track segments with used segment identifiers, read the track segment with used segment identifiers on the near side of the current frame track segment as the near-end clamping track segment, and read the track segment with used segment identifiers on the far side of the current frame track segment as the far-end clamping track segment. Based on the segment identifiers of the near-end clamped track segment and the far-end clamped track segment, the track segment located between the corresponding two segment identifiers in the previous frame track segment sequence is read as the track segment to be inherited. Based on the cumulative inter-frame displacement, the predicted near-end boundary position and predicted far-end boundary position of the orbit segment to be inherited are formed; The coverage inheritance ratio is formed based on the current near-end boundary position, current far-end boundary position, predicted near-end boundary position, and predicted far-end boundary position of the current frame orbit segment; When the coverage inheritance ratio reaches the coverage ratio limit, the segment identifier of the current frame track segment is used to inherit the segment identifier of the track segment to be inherited, and the remaining track distance of the segment identifier in the current frame is updated according to the remaining track distance of the current frame track segment.

[0010] A further technical improvement of the present invention is that the method for forming the orbital segment sequence in step three includes: After accepting the comparison, writing the new segment identifier, and updating the corresponding accepted track segments, an initial track segment sequence is formed; Based on the cumulative inter-frame displacement, the predicted near-end boundary position and predicted far-end boundary position of the previous frame's orbital segment in the current frame are formed; the first current frame orbital segment and the second current frame orbital segment in the initial orbital segment sequence are read from near to far according to the remaining track distance, with the first current frame orbital segment located on the near-end side of the second current frame orbital segment; When the orbital range along the first current frame, the second current frame, and the current far boundary position of the first current frame orbital segment to the current near boundary position of the second current frame orbital segment are all located between the predicted near boundary position and the predicted far boundary position of the same previous frame orbital segment, the same previous frame orbital segment is determined as a common belonging orbital segment. Based on the current near-end boundary position of the first current frame orbit segment and the current far-end boundary position of the second current frame orbit segment, a candidate orbit segment for merging is formed, and the receiving position of the common belonging orbit segment is formed based on the cumulative inter-frame running displacement. The connection positions of the candidate track segments to be merged and the common-belonging track segments are compared. If the connection comparison is successful, the first current frame track segment and the second current frame track segment are replaced with the candidate track segment to be merged, and the candidate track segment to be merged retains the segment identifier of the common-belonging track segment. If the connection comparison is unsuccessful, the first current frame track segment and the second current frame track segment are retained. Based on the candidate track segments to be merged when the connection comparison is successful, the first current frame track segment and the second current frame track segment retained when the connection comparison is unsuccessful, and the current frame track segments in the initial track segment sequence that did not participate in the merging judgment, a track segment sequence is formed.

[0011] A further technical improvement of the present invention is that the method for generating a braking command based on the braking interval of the trigger segment in step five includes: The trigger segment selected in the current control cycle is determined as the locking braking reference segment; In subsequent control cycles, if the locking braking reference segment does not simultaneously meet the conditions of being determined as a braking judgment segment and the remaining track distance falling into the braking range, the trigger segment selected in the current control cycle will be determined as the new locking braking reference segment. When the locking braking reference segment simultaneously satisfies the conditions of being determined as a braking judgment segment and the remaining track distance falling into the braking zone, the track segments whose remaining track distance falls into the braking zone and whose remaining track distance is shorter than the remaining track distance of the locking braking reference segment are read from the braking judgment segment, and the track segment with the shortest remaining track distance is selected as the candidate replacement segment. If no candidate replacement segment is found, keep the locking braking reference segment unchanged; When a candidate replacement segment is read, the corresponding braking control intensity is determined based on the braking interval into which the candidate replacement segment and the locking braking reference segment fall, respectively. When the braking control strength corresponding to the candidate replacement segment is higher than the braking control strength corresponding to the locking braking reference segment, the candidate replacement segment is determined as the new locking braking reference segment. If the braking control intensity corresponding to the candidate replacement segment is equal to the braking control intensity corresponding to the locking braking reference segment, and the remaining track distance of the candidate replacement segment is shorter than the remaining track distance of the locking braking reference segment within a continuous preset quantity control cycle, then the candidate replacement segment is determined as the new locking braking reference segment. If a candidate replacement segment is read, and the candidate replacement segment is not determined as a new locking brake reference segment, the locking brake reference segment remains unchanged. A braking command is generated based on the braking interval entered from the locking braking reference segment.

[0012] Compared with the prior art, the present invention has the following beneficial effects: This invention acquires images of the track ahead using a camera in each control cycle, and combines these images with the cumulative inter-frame displacement, current speed, and displacement from the image acquisition time to the control time to form a compensation displacement. This allows the track boundary position in the image ahead to be corrected at the control time. Consequently, when dividing the track into segments and forming the remaining track distance, the track segment corresponds to the actual track position involved in braking judgment in the current control cycle, improving the temporal consistency between the data at the image acquisition time and the braking judgment at the control time. Furthermore, when forming track segments, this invention first forms central sampling points based on the left and right track boundaries, then determines the track extension direction and sets the track segment boundary position based on the central sampling points. When there are sampling positions near the candidate track segment boundary position that have not formed central sampling points, the sampling positions are read further away from the track running equipment along the track extension direction, and the track segment boundary position is determined by two consecutive sampling positions that have formed central sampling points. Thus, the track segment boundary position can fall into a position where both the left and right track boundaries have sampling support, reducing the instability of track segment division caused by the lack of local boundaries. On the other hand, when forming the track segment sequence, this invention determines the connection position of the previous frame's track segment based on the cumulative inter-frame displacement, and forms the track segment sequence through connection comparison, segment identifier reuse, new segment identifier writing, update of already connected track segments, and merging of commonly belonging track segments. When determining the braking judgment segment, it comprehensively determines the segment based on boundary continuation judgment, far-end termination judgment, center offset judgment, and track segments whose remaining track distance falls into the braking interval but have not formed a connection comparison result. When generating braking commands, it controls the basis for generating braking commands by locking the comparison relationship between the braking reference segment, candidate replacement segment, and braking control strength. Thus, while maintaining clear trigger segment selection rules, it can improve the stability of braking command generation and the timeliness of track anomaly response within continuous control cycles. Attached Figure Description

[0013] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 This is a schematic diagram of the method logic of the present invention. Detailed Implementation

[0015] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0016] Please see Figure 1 As shown, the present invention provides a braking control method for track running equipment, comprising: Step 1: In each control cycle, the camera at the front of the track running equipment in the direction of operation is used to collect images of the track ahead, read the cumulative running displacement and current running speed between frames, and form a compensation displacement based on the running displacement from the time of image acquisition to the time of control. Specifically, in this embodiment, step one is executed by the brake controller. The head camera is positioned at the front of the track-running equipment in the direction of travel and acquires images of the track ahead according to the image acquisition cycle. The brake controller writes an image frame number for each frame of the track ahead image according to the acquisition sequence, with the image frame number increasing sequentially. The track-side position value of the track-running equipment at the image acquisition time is determined by the track-side position detection data of the track-running equipment. When the head camera acquires each frame of the track ahead image, the brake controller writes the image frame number of that image and the corresponding track-side position value at the image acquisition time into the same image frame record, ensuring that each frame of the track ahead image has both an image frame number and a track-side position value. When subsequently reading the track-side position value corresponding to the image acquisition time of any given track ahead image, the brake controller reads it from the corresponding image frame record based on the image frame number of that track ahead image.

[0017] In this embodiment, when the head-mounted camera captures two adjacent frames of the forward track image, the braking controller writes the image frame number of the previous frame of the forward track image, the image frame number of the next frame of the forward track image, and the inter-frame running displacement between the previous and next frames of the forward track image into an inter-frame displacement record. The inter-frame running displacement is the running displacement along the track direction generated by the track-running equipment between the image acquisition time of the previous frame of the forward track image and the image acquisition time of the next frame of the forward track image. Each inter-frame displacement record includes a starting image frame number, an ending image frame number, and an inter-frame running displacement; the starting image frame number corresponds to the previous frame of the forward track image, and the ending image frame number corresponds to the next frame of the forward track image.

[0018] Within each control cycle, the braking controller reads the foreground track image from the image buffer queue whose frame number is no earlier than the frame number of the foreground track image processed in the previous control cycle, and whose frame number is the largest. This foreground track image is used for subsequent track boundary extraction and track segment division in the current control cycle. The braking controller simultaneously reads the frame numbers of the foreground track images processed in the previous control cycle and the frame numbers of the foreground track images to be processed in the current control cycle to determine the frame number span corresponding to the current control cycle.

[0019] If the image frame number of the forward track image to be processed in the current control cycle is later than the image frame number of the forward track image processed in the previous control cycle, the braking controller reads the inter-frame displacement records where the starting image frame number is later than the image frame number of the forward track image processed in the previous control cycle, and the ending image frame number is not later than the image frame number of the forward track image to be processed in the current control cycle. The controller then adds the inter-frame running displacements from each read inter-frame displacement record to form the cumulative inter-frame running displacement for the current control cycle. If the image frame number of the forward track image to be processed in the current control cycle is the same as the image frame number of the forward track image processed in the previous control cycle, the braking controller sets the cumulative inter-frame running displacement to zero to avoid duplicate displacement accumulation when the same forward track image frame is processed repeatedly.

[0020] After generating the inter-frame cumulative displacement, the braking controller reads the current operating speed value corresponding to the current control cycle as the current operating speed. The current operating speed value is determined by the operating speed detection data of the track running equipment. The current operating speed is used to subsequently generate braking sections, and the inter-frame cumulative displacement is used to subsequently generate the transition position of the previous track segment. After completing the reading of the pending forward track image for the current control cycle, the braking controller updates the image frame number of the pending forward track image for the current control cycle to the image frame number of the processed forward track image, enabling the next control cycle to continue reading the inter-frame displacement record based on this processed image frame number.

[0021] After establishing the inter-frame cumulative displacement and current speed, the braking controller continues to generate compensation displacement. The braking controller reads the image frame number of the foreground track image to be processed in the current control cycle, and also reads the image frame number of the most recently acquired foreground track image and the track position value at the corresponding image acquisition time. The most recently acquired foreground track image is the one with the largest image frame number in the image buffer queue during the current control cycle. The braking controller latches the track position value of the track running equipment at the control time of the current control cycle, and subtracts the track position value at the corresponding image acquisition time of the most recently acquired foreground track image from the track position value at the control time of the current control cycle to form the first compensation component.

[0022] When the image frame number of the forward track image to be processed is earlier than the image frame number of the most recently acquired forward track image, the brake controller reads the inter-frame displacement records corresponding to each adjacent image frame between the image frame number of the forward track image to be processed and the image frame number of the most recently acquired forward track image, and adds the inter-frame movement displacements in each inter-frame displacement record to form a second compensation component. When the image frame number of the forward track image to be processed is the same as the image frame number of the most recently acquired forward track image, the brake controller sets the second compensation component to zero.

[0023] The braking controller uses the sum of the first compensation component and the second compensation component as the compensation displacement. This compensation displacement corresponds to the operational displacement between the image acquisition time of the foreground track image to be processed and the control time of the current control cycle, and participates in the position correction along the track direction of the left and right boundary sampling points in step two. The inter-frame cumulative operational displacement corresponds to the operational displacement between the foreground track image processed in the previous control cycle and the foreground track image to be processed in the current control cycle, and participates in the formation of the transition position of the track segment from the previous frame in step three.

[0024] Step 2: Extract the left and right track boundaries from the front track image, determine the track extension direction, divide the track into segments along the track extension direction, and form the remaining track distance of each track segment based on the compensation displacement. Specifically, in this embodiment, step two is executed after the compensation displacement is formed in step one. The braking controller reads the forward track image to be processed in the current control cycle and extracts the left and right track boundaries from the forward track image. The left track boundary is the sequence of track edge positions located to the left of the running direction of the track running equipment in the forward track image, and the right track boundary is the sequence of track edge positions located to the right of the running direction of the track running equipment in the forward track image. Both the left and right track boundaries are arranged in order from the side closer to the track running equipment to the side farther away from the track running equipment.

[0025] After extracting the left and right track boundaries, the brake controller reads the left boundary sampling points according to their sampling sequence on the left track boundary and the right boundary sampling points according to the same sampling sequence on the right track boundary. The sampling sequence increases in the direction of track movement, with boundary sampling points with earlier sampling sequences closer to the track running equipment and those with later sampling sequences farther away. Left and right boundary sampling points with the same sampling sequence correspond to the positions of the two track boundaries near the same location along the track in the preceding track image, and are used to subsequently form the center sampling point.

[0026] After the left and right boundary sampling points are formed, the brake controller corrects their positions along the track direction based on the compensation displacement generated in step one. Specifically, the brake controller reads the pre-written calibration mapping relationship between image coordinates and track distance. This calibration mapping relationship is formed by the installation position and angle of the head-mounted camera, the corresponding position of the braking reference point of the track running equipment in the preceding track image, and the track centerline calibration data. It is used to convert the positions of the boundary sampling points in the preceding track image into track distance coordinates relative to the braking reference point of the track running equipment.

[0027] The braking controller uses the image position corresponding to the braking reference point of the track running equipment as the zero position of the track distance, and the direction from the side closer to the track running equipment to the side farther away from the track running equipment in the preceding track image as the track forward direction. Based on the calibration mapping relationship, the braking controller reads the original track position value corresponding to each left boundary sampling point and each right boundary sampling point along the track forward direction, and subtracts the compensation displacement from the original track position value to obtain the corrected track position value corresponding to the control moment. The braking controller generates left and right corrected boundary sampling points based on the corrected track position values, ensuring that the left and right corrected boundary sampling points correspond to the control moment of the current control cycle.

[0028] After the left and right correction boundary sampling points are formed, the braking controller connects the left and right correction boundary sampling points with the same sampling sequence and determines the midpoint of the connecting line as the center sampling point. Each center sampling point corresponds to a sampling sequence. If a sampling sequence does not simultaneously form a left and right correction boundary sampling point, then a center sampling point is not formed for that sampling sequence. The resulting center sampling points are arranged according to their sampling sequence, serving as the basis for subsequently determining the track extension direction and dividing the track segments.

[0029] After forming the central sampling points, the brake controller connects each central sampling point according to the sampling sequence and determines the track extension direction based on the direction of the line connecting adjacent central sampling points. Specifically, the brake controller reads two central sampling points with adjacent sampling sequences, forms corresponding center point lines, and arranges these lines according to the sampling sequence. When the direction of the line connecting adjacent center points changes, the brake controller retains the corresponding change in line direction according to the sampling sequence, so that the track extension direction is formed segment by segment along the path arranged by the central sampling points. The track extension direction thus corresponds to the extension path of the track center position in the current control cycle.

[0030] After determining the track extension direction, the brake controller reads the track-side distance between adjacent center sampling points along the track extension direction. The track-side distance between adjacent center sampling points is the distance between the two center sampling points along the track extension direction. The brake controller accumulates the track-side distance between adjacent center sampling points from near to far according to the sampling sequence. The preset segment length is the length parameter used to divide the track segments. The preset segment length is pre-written into the brake controller based on the braking control accuracy of the track running equipment, the sampling interval of the preceding track image, and the granularity of the braking interval division. When the accumulated track-side distance reaches the preset segment length, the brake controller sets the track segment boundary position and continues to accumulate the track-side distance for the next track segment from that boundary position.

[0031] When setting the track segment boundary position, the brake controller first determines the position where the cumulative distance along the track reaches the preset segment length as the candidate track segment boundary position. The candidate track segment boundary position is located in the track extension direction and corresponds to a cumulative position. The brake controller reads the adjacent sampling sequence on the near side and the adjacent sampling sequence on the far side of the candidate track segment boundary position. The adjacent sampling sequence on the near side is the adjacent sampling sequence on the side of the candidate track segment boundary position closer to the track running equipment, and the adjacent sampling sequence on the far side is the adjacent sampling sequence on the side of the candidate track segment boundary position farther from the track running equipment.

[0032] After reading the adjacent sampling sequence positions on the proximal and distal sides, the braking controller determines whether both adjacent sampling sequence positions on the proximal and distal sides have formed a center sampling point. When both adjacent sampling sequence positions on the proximal and distal sides have simultaneously formed a left correction boundary sampling point and a right correction boundary sampling point, the braking controller determines that both adjacent sampling sequence positions on the proximal and distal sides have formed a center sampling point and sets the candidate track segment boundary position as the track segment boundary position.

[0033] When there are sampling sequences that have not formed a center sampling point among the adjacent sampling sequences on the near side and the far side, the braking controller does not directly set the candidate track segment boundary position as the track segment boundary position. Instead, it continues to read sampling sequences along the track extension direction towards the side away from the track running equipment. The braking controller determines one by one whether the continued sampling sequence forms a center sampling point until it reads two consecutive sampling sequences that both form a center sampling point. The braking controller sets the position of the center sampling point corresponding to the sampling sequence closer to the track running equipment among the two consecutive sampling sequences that both form a center sampling point as the track segment boundary position, so that the track segment boundary position falls into an effective position that can be supported by both the left and right corrected boundary sampling points.

[0034] After establishing multiple track segment boundary positions, the brake controller forms track segments based on the boundary positions of adjacent track segments. Each track segment is defined by the center sampling point, the left corrected boundary sampling point, and the right corrected boundary sampling point between two adjacent track segment boundary positions. The track segment boundary position closer to the track running equipment is designated as the near-end boundary position of that track segment, and the track segment boundary position farther from the track running equipment is designated as the far-end boundary position of that track segment. The brake controller records the track segments sequentially according to their positions along the track extension direction.

[0035] After the track segments are formed, the braking controller calculates the remaining track distance for each track segment based on the track segment boundary position relative to the braking reference point of the track running equipment. For each track segment, the braking controller reads the track distance of the near-end boundary position of the track segment relative to the braking reference point of the track running equipment and uses this distance as the remaining track distance for that track segment. Simultaneously, the braking controller reads the track distance of the far-end boundary position of the track segment relative to the braking reference point of the track running equipment and writes both the track distances corresponding to the near-end and far-end boundaries into the boundary distance record for that track segment. The resulting track segment, remaining track distance, and boundary distance records proceed to step three for subsequent comparison and track segment sequence formation.

[0036] Step 3: Based on the cumulative inter-frame displacement, form the connection position of the previous frame's track segment, and compare the current frame's track segment with the connection position. If the connection comparison is successful, use the segment identifier. If the connection comparison is unsuccessful and the segment is outside the farthest boundary of the already connected track segment sequence, write a new segment identifier. If the connection comparison is unsuccessful and the segment is within the farthest boundary of the already connected track segment sequence, update the corresponding already connected track segment to form a track segment sequence. Specifically, in this embodiment, step three is executed after step two, which forms the track segment and the remaining track distance. The braking controller determines the track segment formed from the processed forward track image of the previous control cycle as the previous frame track segment, determines the track segment formed from the forward track image to be processed in the current control cycle as the current frame track segment, and reads the inter-frame cumulative running displacement formed in step one. Each previous frame track segment has a segment identifier, the previous frame near-end boundary position, the previous frame far-end boundary position, and the previous frame remaining track distance; each current frame track segment has the current near-end boundary position, the current far-end boundary position, and the remaining track distance.

[0037] The braking controller corrects the near-end boundary position and far-end boundary position of the previous frame's track segment along the track direction based on the cumulative inter-frame displacement, thus forming the receiving position of the previous frame's track segment in the current control cycle. The receiving position includes the near-end boundary position and far-end boundary position of the previous frame's track segment after correction by the cumulative inter-frame displacement. Therefore, the current frame's track segment, the previous frame's track segment, and the receiving position all have the same track distance comparison caliber under the same control cycle.

[0038] After establishing the connection position for the previous frame track segment, the braking controller compares the connection positions of the current frame track segment with those of the previous frame. This comparison includes comparing the current near-end boundary position of the current frame track segment with the near-end boundary position in the connection position, and comparing the current far-end boundary position of the current frame track segment with the far-end boundary position in the connection position. The braking controller uses the near-end boundary position in the connection position as the center and establishes a near-end connection distance range according to a preset connection distance; it also uses the far-end boundary position in the connection position as the center and establishes a far-end connection distance range according to a preset connection distance. The preset connection distances are determined by the upper limit of boundary position deviation in historical normal connection data of the track running equipment and the braking control precision. If the current near-end boundary position of the current frame track segment falls within the near-end connection distance range, and the current far-end boundary position of the current frame track segment falls within the far-end connection distance range, the braking controller determines that the connection comparison is valid and allows the current frame track segment to retain the segment identifier of the corresponding previous frame track segment.

[0039] When the acceptance comparison is valid, the braking controller causes the current frame track segment to retain the segment identifier of the corresponding track segment from the previous frame, and arranges the current frame track segments that have already retained the segment identifier in order of their remaining track distance from near to far, forming a sequence of accepted track segments. The farthest boundary of the sequence of accepted track segments is the boundary position on the side of the sequence furthest from the track running equipment.

[0040] When the acceptance comparison is not valid, the braking controller reads the positional relationship between the current frame track segment and the farthest boundary of the already accepted track segment sequence. If the current frame track segment is outside the farthest boundary of the already accepted track segment sequence, the braking controller writes a new segment identifier for the current frame track segment; if the current frame track segment is inside the farthest boundary of the already accepted track segment sequence, the braking controller enters the process of updating the corresponding already accepted track segment.

[0041] When updating the corresponding accepted track segments, the braking controller, for the current frame track segment where the acceptance comparison is invalid, is located within the farthest boundary of the accepted track segment sequence, and is located between two track segments with used segment identifiers, reads the track segment with used segment identifiers on the near side of the current frame track segment as the near-end clamping track segment, and reads the track segment with used segment identifiers on the far side of the current frame track segment as the far-end clamping track segment. Both the near-end clamping track segment and the far-end clamping track segment come from the track segments whose segment identifiers have been used in the current control cycle, and the near-end clamping track segment is located on the side of the current frame track segment closer to the track running equipment, while the far-end clamping track segment is located on the side of the current frame track segment farther from the track running equipment.

[0042] The braking controller reads the track segment located between the corresponding two segment identifiers in the previous frame's track segment sequence, based on the segment identifiers of the near-end clamping track segment and the far-end clamping track segment, as the track segment to be inherited. This reading process is performed according to the order of the segment identifiers in the previous frame's track segment sequence, so that the sequential position of the track segment to be inherited in the previous frame's track segment sequence corresponds to the position of the track segment in the current frame between the near-end clamping track segment and the far-end clamping track segment.

[0043] After reading the track segment to be inherited, the braking controller generates predicted near-end boundary and predicted far-end boundary positions for the track segment based on the cumulative inter-frame displacement. Specifically, the braking controller subtracts the cumulative inter-frame displacement from the near-end boundary position of the track segment in the previous frame along the running direction of the track operating equipment to form the predicted near-end boundary position; it also subtracts the cumulative inter-frame displacement from the far-end boundary position of the track segment in the previous frame along the running direction of the track operating equipment to form the predicted far-end boundary position. The predicted near-end boundary and predicted far-end boundary positions together form the predicted track range of the track segment to be inherited in the current control cycle.

[0044] The braking controller determines the coverage inheritance ratio based on the current near-end boundary position, current far-end boundary position, predicted near-end boundary position, and predicted far-end boundary position of the current frame track segment. Specifically, the braking controller reads the current track range between the current near-end boundary position and the current far-end boundary position of the current frame track segment, and reads the predicted track range between the predicted near-end boundary position and the predicted far-end boundary position. The track length where the current track range and the predicted track range overlap is taken as the coverage overlap length, and the ratio of the coverage overlap length to the current track range length is determined as the coverage inheritance ratio. The coverage ratio limit is determined by the lower limit of the coverage inheritance ratio in historical successfully inherited samples and the minimum effective coverage requirement of the track segment. When the coverage inheritance ratio reaches the coverage ratio limit, the current frame track segment can inherit the segment identifier of the track segment to be inherited.

[0045] When the coverage inheritance ratio reaches the coverage ratio limit, the braking controller causes the current frame track segment to use the segment identifier of the track segment to be inherited, and updates the remaining track distance of the segment identifier in the current frame based on the remaining track distance of the current frame track segment. Therefore, even if the inheritance comparison is not valid, the current frame track segment can still update the corresponding already inherited track segment through the near-end clamped track segment, the far-end clamped track segment, the track segment to be inherited, and the coverage inheritance ratio.

[0046] When the acceptance comparison is invalid, and the current frame track segment is within the farthest boundary of the accepted track segment sequence, but at least one of the following conditions is met: no track segment with a used segment identifier is read on the near side of the current frame track segment, and no track segment with a used segment identifier is read on the far side of the current frame track segment, the braking controller will not perform the read process for the track segment to be inherited, and will write the current frame track segment into the unaccepted track segment record. The braking controller writes a current frame temporary segment identifier for the current frame track segment written into the unaccepted track segment record. The current frame temporary segment identifier is used for track segment sorting, braking determination segment recording, and trigger segment selection within the current control cycle, and is not used as a segment identifier for cross-frame acceptance in subsequent control cycles. The unaccepted track segment record includes the current frame temporary segment identifier, the current near boundary position, the current far boundary position, the remaining track distance, and the unaccepted reason marker.

[0047] When the near-end clamping track segment and the far-end clamping track segment have been read, but the track segment to be inherited cannot be read in the previous frame track segment sequence based on the segment identifier of the near-end clamping track segment and the segment identifier of the far-end clamping track segment, the braking controller writes the current frame track segment into the unaccepted track segment record and writes the current frame temporary segment identifier for the current frame track segment, but does not write the segment identifier for subsequent control cycles to be inherited across frames for the current frame track segment.

[0048] When a track segment to be inherited is read, but the coverage inheritance ratio does not reach the coverage ratio limit, the braking controller determines that the current frame track segment does not meet the segment identifier inheritance condition, and writes the current frame track segment into the unaccepted track segment record, while simultaneously writing a current frame temporary segment identifier for the current frame track segment. The current frame track segment written into the unaccepted track segment record is retained in the initial track segment sequence of the current control cycle and proceeds to step four, which is used to determine whether the track segment belongs to the track segment whose remaining track distance falls into the braking interval and has not formed a valid acceptance comparison result.

[0049] After completing the acceptance comparison, writing the new segment identifier, and updating the corresponding accepted track segments, the braking controller forms an initial track segment sequence. The initial track segment sequence includes the current frame track segment that retains its segment identifier after a successful acceptance comparison; the current frame track segment that has its new segment identifier written after a failed acceptance comparison and is located outside the farthest boundary of the accepted track segment sequence; the current frame track segment that has been updated after a failed acceptance comparison and is located within the farthest boundary of the accepted track segment sequence; and the current frame track segment with an unaccepted track segment record and a temporary segment identifier for the current frame. The braking controller arranges the initial track segment sequence from nearest to farthest along the track for each current frame track segment.

[0050] After forming the initial track segment sequence, the braking controller determines the predicted near-end boundary position and predicted far-end boundary position of the previous frame track segment in the current frame based on the cumulative inter-frame running displacement. For each previous frame track segment, the braking controller subtracts the cumulative inter-frame running displacement from the previous frame near-end boundary position of the previous frame track segment along the running direction of the track operating equipment to form the predicted near-end boundary position of the previous frame track segment in the current frame; and subtracts the cumulative inter-frame running displacement from the previous frame far-end boundary position of the previous frame track segment along the running direction of the track operating equipment to form the predicted far-end boundary position of the previous frame track segment in the current frame.

[0051] The braking controller reads the first and second current frame track segments from the initial track segment sequence, from near to far, according to the remaining track distance. The first current frame track segment is located on the near end side of the second current frame track segment. The braking controller reads the current near-end boundary position and the current far-end boundary position of the first current frame track segment, as well as the current near-end boundary position and the current far-end boundary position of the second current frame track segment, and reads the track range between the current far-end boundary position of the first current frame track segment and the current near-end boundary position of the second current frame track segment.

[0052] When the first current frame track segment, the second current frame track segment, and the track range between the current far boundary position of the first current frame track segment and the current near boundary position of the second current frame track segment all lie between the predicted near boundary position and the predicted far boundary position of the same previous frame track segment, the braking controller identifies this same previous frame track segment as a shared track segment. The shared track segment is used to record the predicted track range of the first and second current frame track segments corresponding to the same previous frame track segment in the current control cycle.

[0053] After determining the shared orbital segment, the braking controller generates a candidate orbital segment for merging based on the current near-end boundary position of the first current frame orbital segment and the current far-end boundary position of the second current frame orbital segment. The near-end boundary position of the candidate orbital segment is the current near-end boundary position of the first current frame orbital segment, and the far-end boundary position of the candidate orbital segment is the current far-end boundary position of the second current frame orbital segment. The braking controller then determines the receiving position of the shared orbital segment based on the cumulative inter-frame displacement and compares the receiving positions of the candidate orbital segment and the shared orbital segment.

[0054] When the connection comparison between the candidate track segment to be merged and the common-belonging track segment is valid, the braking controller replaces the first current frame track segment and the second current frame track segment with the candidate track segment to be merged, and makes the candidate track segment to be merged retain the segment identifier of the common-belonging track segment; the first current frame track segment and the second current frame track segment replaced by the candidate track segment to be merged are no longer written separately into the track segment sequence. When the connection comparison between the candidate track segment to be merged and the common-belonging track segment is invalid, the braking controller retains the first current frame track segment and the second current frame track segment. Based on the candidate track segment to be merged when the connection comparison is valid, the first current frame track segment and the second current frame track segment retained when the connection comparison is invalid, and the current frame track segments in the initial track segment sequence that did not participate in the merging judgment, the braking controller forms a track segment sequence from near to far along the track according to the remaining track distance. The formed track segment sequence enters step four, which is used to subsequently determine the braking judgment segment.

[0055] Step 4: Based on the current operating speed and the calibration capability of the braking system, a braking zone is formed to distinguish the braking triggering stage. Based on the boundary continuation judgment, far-end termination judgment, center offset judgment of each track segment in the track segment sequence, and the track segments whose remaining track distance falls into the braking zone and have not formed a valid result of the connection comparison, the braking judgment segment is determined. Specifically, in this embodiment, step four is executed after the track segment sequence is formed in step three. The brake controller reads the current operating speed, braking system calibration capability, and track segment sequence for the current control cycle. Each track segment in the track segment sequence has a segment identifier field, near-end boundary position, far-end boundary position, remaining track distance, left correction boundary sampling point, right correction boundary sampling point, and center sampling point. Among them, the segment identifier field of the current frame track segment that has passed the acceptance comparison is written with the continued segment identifier; the segment identifier field of the current frame track segment located outside the farthest boundary of the already accepted track segment sequence is written with the newly added segment identifier; and the segment identifier field of the current frame track segment that has not passed the track segment record is written with the current frame temporary segment identifier. The brake controller forms a braking interval to distinguish the braking triggering stage based on the current operating speed and braking system calibration capability, and forms boundary continuation judgment, far-end termination judgment, and center offset judgment for each track segment in the track segment sequence.

[0056] In this embodiment, the braking system calibration capability refers to the braking distance data generated by the track running equipment under calibration conditions. The braking system calibration capability includes braking response distance, braking establishment distance, stable deceleration distance, and safety margin distance. The braking response distance corresponds to the track running distance of the track running equipment from the generation of the braking command to the generation of effective braking force by the braking execution component; the braking establishment distance corresponds to the track running distance of the track running equipment from the initial braking state to the calibration braking force; the preset safe operating speed is predetermined by the operating safety limit of the track running equipment; the stable deceleration distance corresponds to the track running distance of the track running equipment from the current operating speed to the preset safe operating speed; the safety margin distance is used to compensate for image acquisition delay, data processing delay, and braking execution error. The braking controller uses the braking reference point of the track running equipment as the starting point for distance calculation, and sequentially accumulates the safety margin distance, braking response distance, braking establishment distance, and stable deceleration distance along the track extension direction to form multiple track distance boundaries, and forms braking intervals based on adjacent track distance boundaries. The braking control intensity corresponding to the braking section closer to the braking reference point of the track running equipment is higher than that corresponding to the braking control intensity of the braking section farther away from the braking reference point of the track running equipment. The braking control intensity decreases sequentially from the nearest to the farthest braking section.

[0057] When forming braking intervals, the brake controller writes a braking interval number, a near-end distance boundary, a far-end distance boundary, and a braking control intensity level for each braking interval. The braking interval numbers increase in order from near to far, while the braking control intensity levels decrease in order from near to far. When subsequently determining the braking control intensity corresponding to the candidate replacement segment and the locked braking reference segment, the brake controller reads the corresponding braking control intensity level based on the braking interval into which the candidate replacement segment and the locked braking reference segment fall.

[0058] After establishing the braking zone, the braking controller performs boundary continuity checks on each track segment in the track segment sequence. For track segments with adjacent near-end track segments, the braking controller reads the left and right corrected boundary sampling points corresponding to the boundary positions of the track segment and its near-end adjacent track segment, and calculates the left and right corresponding boundary position differences, respectively. When both the left and right corresponding boundary position differences fall within the preset boundary continuity range, the braking controller determines that the boundary continuity is valid; when one of the left or right corresponding boundary position differences does not fall within the preset boundary continuity range, the braking controller determines that the boundary continuity is abnormal. The preset boundary continuity range is determined by the upper limit of the boundary position difference at the boundary positions of adjacent track segments under historical normal operating conditions, and is used to determine the continuity state of the boundary between adjacent track segments on the left and right track boundaries. For track segments without adjacent near-end track segments, the braking controller does not use boundary continuity checks as the basis for determining the braking segment for that track segment.

[0059] After determining the boundary continuation, the braking controller determines the far-end termination of each track segment in the track segment sequence. For any track segment, the braking controller reads the far-end boundary position of that segment and determines whether the far-end boundary position is within the preset effective detection area of ​​the image. The preset effective detection area of ​​the image is the region in the preceding track image where the left track boundary extraction, right track boundary extraction, and center sampling point formation can be performed simultaneously.

[0060] When the far boundary of the track segment is located within the preset effective detection area of ​​the image, the braking controller reads a preset number of sampling positions after the far boundary along the track extension direction, and determines whether each of the read sampling positions forms a center sampling point. If none of the preset number of sampling positions after the far boundary form a center sampling point, the braking controller determines that the far termination is valid; if there is a sampling position after the far boundary that forms a center sampling point, the braking controller determines that the far termination is invalid. The preset number of termination detections is determined by the sampling interval of the center sampling points and the minimum effective length of the track segment, and is used to avoid misjudgment of far termination due to a single sampling position not forming a center sampling point.

[0061] When the far-end boundary of the track segment does not fall within the preset effective detection area of ​​the image, the braking controller does not use the far-end termination judgment as the basis for determining the braking judgment segment of the track segment, and writes the far-end termination not participating mark in the braking judgment segment record corresponding to the track segment.

[0062] When the far-end boundary position of the track segment corresponds to the far-end boundary position of the preset effective detection area of ​​the image, the braking controller does not use the far-end termination judgment as the basis for determining the braking judgment segment of the track segment, and writes the far-end termination not participating mark in the braking judgment segment record corresponding to the track segment.

[0063] After determining the far-end termination, the braking controller determines the center offset for each track segment in the track segment sequence. For track segments with adjacent near-end track segments, the braking controller reads the center sampling points of that track segment and the center sampling points of the adjacent near-end track segments. It then determines the near-end center extension direction based on the center sampling points of the adjacent near-end track segments and the current segment's center extension direction based on its own center sampling points. The braking controller calculates the lateral offset of the current segment's center extension direction relative to the near-end center extension direction and uses this lateral offset as the center offset. When the center offset is not greater than the center offset limit, the braking controller determines a normal center offset result; when the center offset is greater than the center offset limit, the braking controller determines an abnormal center offset result. The center offset limit is determined by the upper limit of the lateral offset between the center sampling points of adjacent track segments under historical normal operating conditions. For track segments without adjacent near-end track segments, the braking controller does not use the center offset determination as the basis for determining the braking segment for that track segment.

[0064] After determining boundary continuation, far-end termination, and center offset, the braking controller reads the remaining track distance for each track segment and determines whether this remaining track distance falls within the braking zone. The braking controller determines the braking decision segment based on two types of triggering sources.

[0065] The first type of trigger source is the result of the track segment's own state judgment, specifically at least one of the following: abnormal boundary continuation of the track segment, establishment of far-end termination, and abnormal center offset. The second type of trigger source is the combined judgment of cross-frame handover result and braking interval, specifically when the remaining track distance of the track segment falls into the braking interval, and the track segment has not formed a valid handover comparison result.

[0066] When a track segment meets the first type of triggering source, the braking controller designates that track segment as a braking decision segment; when a track segment meets the second type of triggering source, the braking controller also designates that track segment as a braking decision segment. For track segments that simultaneously meet both the first and second type of triggering sources, the braking controller simultaneously writes the corresponding boundary continuation judgment, far-end termination judgment, center offset judgment, and connection comparison results into the braking decision segment record. The braking controller writes the segment identifier, remaining track distance, braking interval it falls into, boundary continuation judgment, far-end termination judgment, center offset judgment, and connection comparison results of each braking decision segment into the braking decision segment record.

[0067] After determining the braking decision segment, the braking controller sorts the braking decision segments from near to far according to the remaining track distance. The sorted braking decision segments enter step five, which is used to select the track segment with the shortest remaining track distance that falls into the braking interval from the braking decision segments as the trigger segment, and generate a braking command based on the braking interval entered by the trigger segment.

[0068] Step 5: Select the track segment with the shortest remaining track distance from the braking judgment segment that falls into the braking interval as the trigger segment, and generate a braking command based on the braking interval entered by the trigger segment. Specifically, in this embodiment, step five is executed after the braking judgment segment is determined in step four. The braking controller reads the braking judgment segment record formed in step four. The braking judgment segment record includes the segment identifier, remaining track distance, the braking interval it falls into, boundary continuation judgment, far-end termination judgment, center offset judgment, and connection comparison result.

[0069] The brake controller reads the track segments whose remaining track distance falls into the braking zone from the braking determination segment. When a track segment whose remaining track distance falls into the braking zone is read, the brake controller sorts them from nearest to farthest according to the remaining track distance, and determines the track segment with the shortest remaining track distance as the trigger segment selected for the current control cycle.

[0070] If no track segment with remaining track distance falling into the braking zone is found in the braking determination segment of the current control cycle, the brake controller does not form a trigger segment for the current control cycle and reads the locking brake reference segment record from the previous control cycle. If a locking brake reference segment record has been formed in the previous control cycle, and that locking brake reference segment is still determined as a braking determination segment in the current control cycle and the remaining track distance falls into the braking zone, the brake controller generates a braking command based on the braking zone entered by that locking brake reference segment.

[0071] When at least one of the following conditions is met: no locking braking reference segment record was formed in the previous control cycle, the locking braking reference segment of the previous control cycle was not determined as a braking determination segment in the current control cycle, or the remaining track distance of the locking braking reference segment of the previous control cycle does not fall into the braking interval in the current control cycle, the braking controller generates a control command to maintain the current operating state and ends the braking command generation process of the current control cycle.

[0072] After selecting a trigger segment in the current control cycle, the brake controller designates the selected trigger segment as the locking brake reference segment and writes the segment identifier, remaining track distance, and the braking interval it falls into into the locking brake reference segment record. The locking brake reference segment is used to provide a braking interval reference when generating braking commands and does not change the selection process of the trigger segment within the current control cycle.

[0073] In subsequent control cycles, the brake controller reads the locking brake reference segment record and searches for a track segment in the brake determination segment record formed in the current control cycle that matches the segment identifier of the locking brake reference segment. If at least one of the following conditions is met: the locking brake reference segment is not determined as a brake determination segment, or the remaining track distance of the locking brake reference segment does not fall within the braking interval, the brake controller determines the trigger segment selected in the current control cycle as the new locking brake reference segment and updates the locking brake reference segment record.

[0074] When the locking braking reference segment is determined as the braking decision segment, and the remaining track distance of the locking braking reference segment falls within the braking range, the braking controller reads track segments from the braking decision segments of the current control cycle whose remaining track distance falls within the braking range and is shorter than the remaining track distance of the locking braking reference segment, and selects the track segment with the shortest remaining track distance as a candidate replacement segment. If no candidate replacement segment is read, the braking controller keeps the locking braking reference segment unchanged.

[0075] When a candidate replacement segment is read, the brake controller determines the corresponding braking control intensity based on the braking intervals into which the candidate replacement segment and the locked braking reference segment fall, respectively. Specifically, the brake controller reads the braking control intensity level corresponding to the braking interval into which the candidate replacement segment falls, as the braking control intensity corresponding to the candidate replacement segment; and reads the braking control intensity level corresponding to the braking interval into which the locked braking reference segment falls, as the braking control intensity corresponding to the locked braking reference segment.

[0076] When the braking control intensity level corresponding to the candidate replacement segment is higher than the braking control intensity level corresponding to the locked braking reference segment, the brake controller determines that the braking control intensity corresponding to the candidate replacement segment is higher than the braking control intensity corresponding to the locked braking reference segment; when the braking control intensity level corresponding to the candidate replacement segment is the same as the braking control intensity level corresponding to the locked braking reference segment, the brake controller determines that the braking control intensity corresponding to the candidate replacement segment is equal to the braking control intensity corresponding to the locked braking reference segment.

[0077] When the braking control intensity corresponding to the candidate replacement segment is higher than that corresponding to the locking braking reference segment, the brake controller identifies the candidate replacement segment as the new locking braking reference segment and updates the locking braking reference segment record with the segment identifier, remaining track distance, and the braking interval it falls into. When the braking control intensity corresponding to the candidate replacement segment is equal to that corresponding to the locking braking reference segment, the brake controller accumulates the number of cycles in which the candidate replacement segment maintains a remaining track distance shorter than that of the locking braking reference segment within a continuous control cycle. When this number of cycles reaches a preset number of consecutive control cycles, the brake controller identifies the candidate replacement segment as the new locking braking reference segment and updates the locking braking reference segment record.

[0078] When a candidate replacement segment is read, and the candidate replacement segment is not determined as a new locking brake reference segment, the brake controller keeps the locking brake reference segment unchanged and continues to generate braking commands based on the braking interval entered by the locking brake reference segment.

[0079] After determining the locking braking reference segment, the brake controller generates a braking command based on the braking interval entered by the locking braking reference segment. The brake controller reads the braking interval entered by the locking braking reference segment and reads the corresponding braking control intensity, and generates a braking command according to the braking control intensity, so that the braking command is consistent with the formation rules of the braking interval and braking control intensity in step four.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A braking control method for track running equipment, characterized in that, include: Step 1: In each control cycle, the camera at the front of the track running equipment in the direction of operation is used to collect images of the track ahead, read the cumulative running displacement and current running speed between frames, and form a compensation displacement based on the running displacement from the time of image acquisition to the time of control. Step 2: Extract the left and right track boundaries from the front track image, determine the track extension direction, divide the track into segments along the track extension direction, and form the remaining track distance of each track segment based on the compensation displacement. Step 3: Based on the cumulative inter-frame displacement, form the connection position of the previous frame's track segment, and compare the current frame's track segment with the connection position. If the connection comparison is successful, use the segment identifier. If the connection comparison is unsuccessful and the segment is outside the farthest boundary of the already connected track segment sequence, write a new segment identifier. If the connection comparison is unsuccessful and the segment is within the farthest boundary of the already connected track segment sequence, update the corresponding already connected track segment to form a track segment sequence. Step 4: Based on the current operating speed and the calibration capability of the braking system, a braking zone is formed to distinguish the braking triggering stage. Based on the boundary continuation judgment, far-end termination judgment, center offset judgment of each track segment in the track segment sequence, and the track segments whose remaining track distance falls into the braking zone and have not formed a valid result of the connection comparison, the braking judgment segment is determined. Step 5: Select the track segment with the shortest remaining track distance from the braking judgment segment that falls into the braking interval as the trigger segment, and generate a braking command based on the braking interval entered by the trigger segment.

2. The braking control method for track running equipment according to claim 1, characterized in that, The methods for generating the compensation displacement in step one include: When the camera at the front captures each frame of the track image, an image frame number is written for each frame of the track image, and the track running equipment's position value along the track at the corresponding image acquisition time is latched. When reading the image of the track to be processed in the current control cycle, read the image frame number of the image of the track to be processed, and read the image frame number of the latest acquired image of the track and the track position value at the time of image acquisition of the latest acquired image of the track. The track position value of the track running equipment at the control time of the current control cycle is latched, and the track position value at the control time of the current control cycle is subtracted from the track position value at the time of image acquisition of the latest acquired forward track image to form the first compensation component. When the image frame number of the foreground track image to be processed is earlier than the image frame number of the latest acquired foreground track image, the inter-frame movement displacement corresponding to each adjacent image frame between the image frame number of the foreground track image to be processed and the image frame number of the latest acquired foreground track image is read, and the inter-frame movement displacement corresponding to each adjacent image frame is added together to form the second compensation component. When the image frame number of the forward track image to be processed is the same as the image frame number of the latest acquired forward track image, the second compensation component is set to zero. The sum of the first compensation component and the second compensation component is taken as the compensation displacement.

3. The braking control method for track running equipment according to claim 1, characterized in that, The method for reading the cumulative inter-frame displacement and current running speed in step one includes: When the camera captures two adjacent frames of front track images, the image frame number of the previous frame of the front track image, the image frame number of the next frame of the front track image, and the inter-frame running displacement between the previous frame of the front track image and the next frame of the front track image are written into the inter-frame displacement record. Within the current control cycle, the image frame number of the forward track image that is no earlier than the image frame number of the forward track image processed in the previous control cycle and has the largest image frame number is read from the image buffer queue and is taken as the forward track image to be processed. When the image frame number of the forward track image to be processed is later than the image frame number of the forward track image processed in the previous control cycle, the inter-frame running displacements corresponding to each adjacent image frame within the span of the corresponding image frame number are added together to form the inter-frame cumulative running displacement. When the image frame number of the forward track image to be processed is the same as the image frame number of the forward track image processed in the previous control cycle, the cumulative inter-frame running displacement is determined to be zero. Read the current running speed of the current control cycle as the current running speed in step one, and update the image frame number of the forward track image to be processed to the image frame number of the forward track image that has already been processed.

4. The braking control method for track running equipment according to claim 1, characterized in that, The method for determining the track extension direction and dividing the track into segments in step two includes: Extract the left and right track boundaries from the front track image. Read the left boundary sampling points on the left track boundary according to the sampling order, and read the right boundary sampling points on the right track boundary according to the same sampling order. Each left boundary sampling point and each right boundary sampling point are subtracted from the track forward direction in the preceding track image to form the left corrected boundary sampling point and the right corrected boundary sampling point. Connect the left and right correction boundary sampling points with the same sampling sequence, and determine the midpoint of the connecting line as the center sampling point. Connect each central sampling point according to the sampling sequence, and determine the track extension direction based on the direction of the line connecting adjacent central sampling points. Read the distance along the track between adjacent center sampling points along the track extension direction, and set the track segment boundary position when the cumulative distance along the track reaches the preset segment length, and form a track segment based on the boundary position of adjacent track segments; The remaining track distance for each track segment is determined based on the track segment boundary position relative to the braking reference point of the track running equipment.

5. A braking control method for track running equipment according to claim 4, characterized in that, The method for setting the track segment boundary position in step two also includes: When the cumulative distance along the track reaches the preset segment length, the cumulative position will be determined as the boundary position of the candidate track segment; Read the adjacent sampling sequence on the near side and the adjacent sampling sequence on the far side of the candidate track segment boundary position, and determine whether the adjacent sampling sequence on the near side and the adjacent sampling sequence on the far side both form the center sampling point; When both the adjacent sampling positions on the near side and the adjacent sampling positions on the far side form a central sampling point, the candidate track segment boundary position is set as the track segment boundary position. When there are sampling sequences that have not formed a center sampling point in adjacent sampling sequences on the near side and adjacent sampling sequences on the far side, continue to read sampling sequences along the track extension direction towards the side away from the track running equipment until two consecutive sampling sequences that have formed a center sampling point are read. The location of the center sampling point corresponding to the sampling sequence closer to the track running equipment in the two consecutive sampling sequences that have formed a center sampling point is set as the track segment boundary position. Track segments are formed based on the boundary locations of track segments.

6. The braking control method for track running equipment according to claim 1, characterized in that, When the acceptance comparison in step three is invalid and the segment is within the farthest boundary of the already accepted track segment sequence, the method for updating the corresponding already accepted track segment includes: For the current frame track segment where the acceptance comparison is not valid, located within the farthest boundary of the accepted track segment sequence and between two track segments with used segment identifiers, read the track segment with used segment identifiers on the near side of the current frame track segment as the near-end clamping track segment, and read the track segment with used segment identifiers on the far side of the current frame track segment as the far-end clamping track segment. Based on the segment identifiers of the near-end clamped track segment and the far-end clamped track segment, the track segment located between the corresponding two segment identifiers in the previous frame track segment sequence is read as the track segment to be inherited. Based on the cumulative inter-frame displacement, the predicted near-end boundary position and predicted far-end boundary position of the orbit segment to be inherited are formed; The coverage inheritance ratio is formed based on the current near-end boundary position, current far-end boundary position, predicted near-end boundary position, and predicted far-end boundary position of the current frame orbit segment; When the coverage inheritance ratio reaches the coverage ratio limit, the segment identifier of the current frame track segment is used to inherit the segment identifier of the track segment to be inherited, and the remaining track distance of the segment identifier in the current frame is updated according to the remaining track distance of the current frame track segment.

7. The braking control method for track running equipment according to claim 1, characterized in that, The method for forming the orbital segment sequence in step three includes: After accepting the comparison, writing the new segment identifier, and updating the corresponding accepted track segments, an initial track segment sequence is formed; Based on the cumulative inter-frame displacement, the predicted near-end boundary position and predicted far-end boundary position of the previous frame's orbital segment in the current frame are formed; the first current frame orbital segment and the second current frame orbital segment in the initial orbital segment sequence are read from near to far according to the remaining track distance, with the first current frame orbital segment located on the near-end side of the second current frame orbital segment; When the orbital range along the first current frame, the second current frame, and the current far boundary position of the first current frame orbital segment to the current near boundary position of the second current frame orbital segment are all located between the predicted near boundary position and the predicted far boundary position of the same previous frame orbital segment, the same previous frame orbital segment is determined as a common belonging orbital segment. Based on the current near-end boundary position of the first current frame orbit segment and the current far-end boundary position of the second current frame orbit segment, a candidate orbit segment for merging is formed, and the receiving position of the common belonging orbit segment is formed based on the cumulative inter-frame running displacement. The connection positions of the candidate track segments to be merged and the common home track segments are compared. If the connection comparison is successful, the first current frame track segment and the second current frame track segment are replaced with the candidate track segment to be merged, and the candidate track segment to be merged retains the segment identifier of the common home track segment. If the connection comparison is unsuccessful, the first current frame track segment and the second current frame track segment are retained. Based on the candidate orbit segments to be merged when the acceptance comparison is valid, the first current frame orbit segments and the second current frame orbit segments retained when the acceptance comparison is invalid, and the current frame orbit segments in the initial orbit segment sequence that did not participate in the merging judgment, an orbit segment sequence is formed.

8. A braking control method for track running equipment according to claim 1, characterized in that, Step five, which generates braking commands based on the braking interval triggered by the segment, includes: The trigger segment selected in the current control cycle is determined as the locking braking reference segment; In subsequent control cycles, if the locking braking reference segment does not simultaneously meet the conditions of being determined as a braking judgment segment and the remaining track distance falling into the braking range, the trigger segment selected in the current control cycle will be determined as the new locking braking reference segment. When the locking braking reference segment simultaneously satisfies the conditions of being determined as a braking judgment segment and the remaining track distance falling into the braking zone, the track segments whose remaining track distance falls into the braking zone and whose remaining track distance is shorter than the remaining track distance of the locking braking reference segment are read from the braking judgment segment, and the track segment with the shortest remaining track distance is selected as the candidate replacement segment. If no candidate replacement segment is found, keep the locking braking reference segment unchanged; When a candidate replacement segment is read, the corresponding braking control intensity is determined based on the braking interval into which the candidate replacement segment and the locking braking reference segment fall, respectively. When the braking control strength corresponding to the candidate replacement segment is higher than the braking control strength corresponding to the locking braking reference segment, the candidate replacement segment is determined as the new locking braking reference segment. If the braking control intensity corresponding to the candidate replacement segment is equal to the braking control intensity corresponding to the locking braking reference segment, and the remaining track distance of the candidate replacement segment is shorter than the remaining track distance of the locking braking reference segment within a continuous preset quantity control cycle, then the candidate replacement segment is determined as the new locking braking reference segment. If a candidate replacement segment is read, and the candidate replacement segment is not determined as a new locking brake reference segment, the locking brake reference segment remains unchanged. A braking command is generated based on the braking interval entered from the locking braking reference segment.

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